It might seem that iCloud is the only way, but it can be painfully slow for getting lots of photos down to your machine.
You might try connecting it by a USB cable to your computer, but then you often have lots of fun trying to find the photos.
Well, there is a free tool from Easeus called Mobimover free which helps. Download and run it. Now connect your iPad or iPhone, click the middle icon to transfer to PC, find and select the files you want. Finally transfer them.